Four-legged mobile robot design and control with fractional PID

Mobile robots are a type of robot that makes human life easier and is preferred in many areas, as it detects obstacles through sensors on them without being fixed to any location, and has the ability to learn on its own with the developed algorithms and control methods. To obtain successful results in mobile robot control, a mathematical model must be obtained and the appropriate control method must be selected. In this thesis , the kinematic and dynamic equations of a four-legged, two-degree-of-freedom mobile robot were obtained. After the kinematic and dynamic equations of the four-legged mobile robot were obtained, the fractional order control method to be used in the control of the four-legged mobile robot was discussed. With the fractional order control method considered, the speed control of the DC motor, which will be used in the orbit control of the four-legged mobile robot, was achieved. After the speed control of the DC motor was carried out, the solid model design of the four-legged mobile robot was carried out using the Solidworks program. The solid model design was transferred to the MATLAB environment to realize the trajectory control of the four-legged mobile robot, whose solid model design was made in the Solidworks program. Using the obtained kinematic equations, the trajectory control of the four-legged mobile robot was carried out by the fractional PID control method using the MATLAB program. In addition, the classical PID control method was compared with the fractional order PID control method, and it was observed that the system designed with the fractional order PID control method followed the determined trajectory with less error and gave more successful results. Thus, it has been shown that the system designed with the fractional order PID control method works more efficiently.